Housheng Zhang

For a visual servoing system with an eye-to-hand configuration, there is often a trade-off between the camera’s field of view (FOV) and visual positioning accuracy. This study presents an innovative visual servoing system that employs dual robotic arms performing distinct functions, coupled with a novel multi-distances observation-based visual servoing technique. To ensure that the target remains within the camera’s FOV, two distinct image path planning strategies are developed for each robotic arm. These strategies are notably independent of system parameters, which enhances their versatility. Numerical simulations and experimental results demonstrate that the proposed method effectively mitigates the conflict between the camera’s FOV and positioning accuracy, making it well-suited for high-precision assembly tasks, while also providing a new approach for enhancing the intelligence of visual servoing systems.

In this paper, On the basis of analyzing the model of three-phase PWM rectifier for wind power grid-connected inverter, the mathematical model of the vector decoupling controlled PWM rectifier at three-phase synchronous rotating coordinate system is deduced. This paper proposes a novel vector decoupling control strategy, which consists of two control loop, i.e. outer voltage loop and inner current loop. It can realize decoupling control of active current and reactive current, thus the active power and reactive power can be regulated independently. PI regulators are used in voltage and current loop to achieve no static error control. Experimental results prove that the proposed rectifier has the satisfactory control performance, and it can achieve approximate unity power factor correction. The experiments also show that the efficiency of proposed rectifier is high, the reliability is well and its application is wide.